tree 203d2a408820b8d7e2560df36871121236d902d0
parent edef9787435a596272a6b2cd9883560f6d9275cf
author Rachel Barker <rachelbarker@google.com> 1673458578 +0000
committer Rachel Barker <rachelbarker@google.com> 1674078748 +0000

Clean up RANSAC code

* Merge integer and double precision paths
  Only the integer path was being used in practice, which meant that
  the double precision path had developed subtle incompatibilities
  over time.
  Having one unified path prevents this reoccurring.

* Consistently represent success/failure results as booleans, with
  true = success and false = failure

* Simplify the calling interface of ransac(), eliminating the need to
  request a function pointer and then call that pointer

* Remove redundant num_inliers_by_motion array

* Rename params_by_motion and num_models to motion_models and
  num_motion_models, respectively

* Pack correspondence data into an array of N structs, rather than
  an array of 4*N integers

* Eliminate intermediate matrix when doing least squares, which could
  potentially be quite large (4096 * 6 * 8 bytes)

Change-Id: I4ea57764a2035b92ddf801b12e42619e5fa5f7ef